Nyssa basically grew up in a Utopian society where 'the air was so full of goodness, evil just shriveled up and died.' She was from the planet Traken.. unfortunately for her though, her step mom went cray cray and The Master killed her dad and took over his body.. so much for that Utopian life.

The Doctor ran into Turlough on Earth, where he was exiled during Trion's (his home planet) civil war. While on Earth he was working with the Black Guardian to kill the Doctor in exchange for his freedom..

OK Ace was a modern day human, but I'm counting her because she got around.. literally! A time storm in her room swept her up to Sabalom Glitz's space craft. It docked on Iceworld in the far future. Ace was then stuck there until she met the Doctor..